Add lidar to drivetrain

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / subsystems / DriveTrain.java

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 138e176956083416f27180650ee984d87ac1cdd4..6936abf72335a05142e400b45f673cf63342fcb1 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -1,85 +1,82 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Lidar;
 
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
 import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class DriveTrain extends Subsystem {
-       private CANTalon frontLeft, frontRight, rearLeft, rearRight;
-       // operational constants
-
-       // inches/pulse
-       private final static double WHEEL_DIAMETER = 6.0; // in inches
-       private final static double PULSES_PER_ROTATION = 256;
-       private final static double OUTPUT_SPROCKET_DIAMETER = 2.0;
-       private final static double WHEEL_SPROCKET_DIAMETER = 3.5;
-
-       public final static double INCHES_PER_PULSE = (((Math.PI)
-                       * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION) / WHEEL_SPROCKET_DIAMETER)
-                       * WHEEL_DIAMETER;
-       private Encoder leftEncoder, rightEncoder;
-
-       public DriveTrain() {
-               frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
-               frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
-               rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
-               rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
-               leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
-                               Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
-               rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
-                               Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X);
-               leftEncoder.setDistancePerPulse(INCHES_PER_PULSE);
-               rightEncoder.setDistancePerPulse(INCHES_PER_PULSE);
-       }
-
-       @Override
-       protected void initDefaultCommand() {
-       }
-
-       public void resetEncoders() {
-               leftEncoder.reset();
-               rightEncoder.reset();
-       }
-
-       // Returns inches per second
-       public double getRightSpeed() {
-               return rightEncoder.getRate();
-       }
-
-       public double getLeftSpeed() {
-               return leftEncoder.getRate();
-       }
-
-       public double getSpeed() {
-               return (getLeftSpeed() + getRightSpeed()) / 2.0;
-       }
-
-       // Returns distance in in
-       public double getRightDistance() {
-               return rightEncoder.getDistance();
-       }
-
-       // Returns distance in in
-       public double getLeftDistance() {
-               return leftEncoder.getDistance();
-       }
-
-       public double getDistance() {
-               return (getRightDistance() + getLeftDistance()) / 2.0;
-       }
-
-       public void stop() {
-               setMotorSpeeds(0, 0);
-       }
-
-       public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
-               this.frontLeft.set(leftSpeed);
-               this.frontRight.set(-rightSpeed);
-               this.rearLeft.set(leftSpeed);
-               this.rearRight.set(-rightSpeed);
-       }
-
+  // Drivetrain related objects
+  private Encoder leftEncoder, rightEncoder;
+  public static Lidar lidar;
+  private CANTalon frontLeft, frontRight, rearLeft, rearRight;
+
+  public DriveTrain() {
+    frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
+    frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
+    rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
+    rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
+
+    lidar = new Lidar(I2C.Port.kOnboard);
+    leftEncoder = new Encoder(Constants.DriveTrain.ENCODER_LEFT_A,
+        Constants.DriveTrain.ENCODER_LEFT_B, false, EncodingType.k4X);
+    rightEncoder = new Encoder(Constants.DriveTrain.ENCODER_RIGHT_A,
+        Constants.DriveTrain.ENCODER_RIGHT_B, false, EncodingType.k4X);
+    leftEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+    rightEncoder.setDistancePerPulse(Constants.DriveTrain.INCHES_PER_PULSE);
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+  }
+
+  public void resetEncoders() {
+    leftEncoder.reset();
+    rightEncoder.reset();
+  }
+
+  public double getLidarDistance() {
+    return lidar.pidGet();
+  }
+
+  public double getRightSpeed() {
+    return rightEncoder.getRate(); // in inches per second
+  }
+
+  public double getLeftSpeed() {
+    return leftEncoder.getRate(); // in inches per second
+  }
+
+  public double getSpeed() {
+    return (getLeftSpeed() + getRightSpeed()) / 2.0; // in inches per second
+  }
+
+  public double getRightDistance() {
+    return rightEncoder.getDistance(); // in inches
+  }
+
+  public double getLeftDistance() {
+    return leftEncoder.getDistance(); // in inches
+  }
+
+  public double getDistance() {
+    return (getRightDistance() + getLeftDistance()) / 2.0; // in inches
+  }
+
+  public void stop() {
+    setMotorSpeeds(0, 0);
+  }
+
+  public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
+    // speed passed to right motor is negative because right motor rotates in
+    // opposite direction
+    this.frontLeft.set(leftSpeed);
+    this.frontRight.set(-rightSpeed);
+    this.rearLeft.set(leftSpeed);
+    this.rearRight.set(-rightSpeed);
+  }
 }